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<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-attribs">Public 属性</a> &#124;
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<div class="title">pcl::VoxelGridCovariance&lt; PointT &gt;::Leaf结构体 参考</div>  </div>
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<p>Simple structure to hold a centroid, covarince and the number of points in a leaf. Inverse covariance, eigen vectors and engen values are precomputed.  
 <a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="voxel__grid__covariance_8h_source.html">voxel_grid_covariance.h</a>&gt;</code></p>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a886049061b877300a4fab9f1b618319c">Leaf</a> ()</td></tr>
<tr class="memdesc:a886049061b877300a4fab9f1b618319c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. Sets <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a249ed9fec9f58d966fc92b6b430f92a4">nr_points</a>, <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a4eb7363a5ffdea8d03d0ecb29e8f38c6">icov_</a>, <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a449f5f30f9c5688cd353968672a33967">mean_</a> and <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a8befc2802cce61b05fa4f79f31374b70">evals_</a> to 0 and <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#adbd892d56494c005fc5ab845a09ddca1">cov_</a> and <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#af80a8459da43812adf10cfba4c5293ed">evecs_</a> to the identity matrix <br /></td></tr>
<tr class="separator:a886049061b877300a4fab9f1b618319c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a54f413027a70f6c6b5b9fee11491cb8f"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a54f413027a70f6c6b5b9fee11491cb8f">getCov</a> () const</td></tr>
<tr class="memdesc:a54f413027a70f6c6b5b9fee11491cb8f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the voxel covariance.  <a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a54f413027a70f6c6b5b9fee11491cb8f">更多...</a><br /></td></tr>
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<tr class="memitem:a739478612c073535800e0fed394a15a3"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a739478612c073535800e0fed394a15a3">getInverseCov</a> () const</td></tr>
<tr class="memdesc:a739478612c073535800e0fed394a15a3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the inverse of the voxel covariance.  <a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a739478612c073535800e0fed394a15a3">更多...</a><br /></td></tr>
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<tr class="memitem:aa05a0541f45e19383c94d70df692cf7c"><td class="memItemLeft" align="right" valign="top">Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#aa05a0541f45e19383c94d70df692cf7c">getMean</a> () const</td></tr>
<tr class="memdesc:aa05a0541f45e19383c94d70df692cf7c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the voxel centroid.  <a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#aa05a0541f45e19383c94d70df692cf7c">更多...</a><br /></td></tr>
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<tr class="memitem:a1d375e78ecc706179302f4571f72cf5e"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a1d375e78ecc706179302f4571f72cf5e">getEvecs</a> () const</td></tr>
<tr class="memdesc:a1d375e78ecc706179302f4571f72cf5e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the eigen vectors of the voxel covariance.  <a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a1d375e78ecc706179302f4571f72cf5e">更多...</a><br /></td></tr>
<tr class="separator:a1d375e78ecc706179302f4571f72cf5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5c67f1eb21eec13603ff961f8aaf33c2"><td class="memItemLeft" align="right" valign="top">Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a5c67f1eb21eec13603ff961f8aaf33c2">getEvals</a> () const</td></tr>
<tr class="memdesc:a5c67f1eb21eec13603ff961f8aaf33c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the eigen values of the voxel covariance.  <a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a5c67f1eb21eec13603ff961f8aaf33c2">更多...</a><br /></td></tr>
<tr class="separator:a5c67f1eb21eec13603ff961f8aaf33c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac67ae7009095cfccd297f21196e1b417"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#ac67ae7009095cfccd297f21196e1b417">getPointCount</a> () const</td></tr>
<tr class="memdesc:ac67ae7009095cfccd297f21196e1b417"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of points contained by this voxel.  <a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#ac67ae7009095cfccd297f21196e1b417">更多...</a><br /></td></tr>
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Public 属性</h2></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a249ed9fec9f58d966fc92b6b430f92a4">nr_points</a></td></tr>
<tr class="memdesc:a249ed9fec9f58d966fc92b6b430f92a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of points contained by voxel <br /></td></tr>
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<tr class="memitem:a449f5f30f9c5688cd353968672a33967"><td class="memItemLeft" align="right" valign="top"><a id="a449f5f30f9c5688cd353968672a33967"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a449f5f30f9c5688cd353968672a33967">mean_</a></td></tr>
<tr class="memdesc:a449f5f30f9c5688cd353968672a33967"><td class="mdescLeft">&#160;</td><td class="mdescRight">3D voxel centroid <br /></td></tr>
<tr class="separator:a449f5f30f9c5688cd353968672a33967"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7163de36e5c92f581b2679e5de2ccf9f"><td class="memItemLeft" align="right" valign="top">Eigen::VectorXf&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a7163de36e5c92f581b2679e5de2ccf9f">centroid</a></td></tr>
<tr class="memdesc:a7163de36e5c92f581b2679e5de2ccf9f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Nd voxel centroid  <a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a7163de36e5c92f581b2679e5de2ccf9f">更多...</a><br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#adbd892d56494c005fc5ab845a09ddca1">cov_</a></td></tr>
<tr class="memdesc:adbd892d56494c005fc5ab845a09ddca1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel covariance matrix <br /></td></tr>
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<tr class="memitem:a4eb7363a5ffdea8d03d0ecb29e8f38c6"><td class="memItemLeft" align="right" valign="top"><a id="a4eb7363a5ffdea8d03d0ecb29e8f38c6"></a>
Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a4eb7363a5ffdea8d03d0ecb29e8f38c6">icov_</a></td></tr>
<tr class="memdesc:a4eb7363a5ffdea8d03d0ecb29e8f38c6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse of voxel covariance matrix <br /></td></tr>
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Eigen::Matrix3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#af80a8459da43812adf10cfba4c5293ed">evecs_</a></td></tr>
<tr class="memdesc:af80a8459da43812adf10cfba4c5293ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Eigen vectors of voxel covariance matrix <br /></td></tr>
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Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a8befc2802cce61b05fa4f79f31374b70">evals_</a></td></tr>
<tr class="memdesc:a8befc2802cce61b05fa4f79f31374b70"><td class="mdescLeft">&#160;</td><td class="mdescRight">Eigen values of voxel covariance matrix <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
struct pcl::VoxelGridCovariance&lt; PointT &gt;::Leaf</h3>

<p>Simple structure to hold a centroid, covarince and the number of points in a leaf. Inverse covariance, eigen vectors and engen values are precomputed. </p>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a54f413027a70f6c6b5b9fee11491cb8f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a54f413027a70f6c6b5b9fee11491cb8f">&#9670;&nbsp;</a></span>getCov()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">Eigen::Matrix3d <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Leaf::getCov </td>
          <td>(</td>
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<p>Get the voxel covariance. </p>
<dl class="section return"><dt>返回</dt><dd>covariance matrix </dd></dl>
<div class="fragment"><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#adbd892d56494c005fc5ab845a09ddca1">cov_</a>);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        }</div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_adbd892d56494c005fc5ab845a09ddca1"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#adbd892d56494c005fc5ab845a09ddca1">pcl::VoxelGridCovariance::Leaf::cov_</a></div><div class="ttdeci">Eigen::Matrix3d cov_</div><div class="ttdoc">Voxel covariance matrix</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:177</div></div>
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<a id="a5c67f1eb21eec13603ff961f8aaf33c2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5c67f1eb21eec13603ff961f8aaf33c2">&#9670;&nbsp;</a></span>getEvals()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">Eigen::Vector3d <a class="el" href="classpcl_1_1_voxel_grid_covariance.html">pcl::VoxelGridCovariance</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::Leaf::getEvals </td>
          <td>(</td>
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          <td> const</td>
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<p>Get the eigen values of the voxel covariance. </p>
<dl class="section note"><dt>注解</dt><dd>Order corresponds with <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a1d375e78ecc706179302f4571f72cf5e">getEvecs</a> </dd></dl>
<dl class="section return"><dt>返回</dt><dd>vector of eigen values </dd></dl>
<div class="fragment"><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a8befc2802cce61b05fa4f79f31374b70">evals_</a>);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        }</div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_a8befc2802cce61b05fa4f79f31374b70"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a8befc2802cce61b05fa4f79f31374b70">pcl::VoxelGridCovariance::Leaf::evals_</a></div><div class="ttdeci">Eigen::Vector3d evals_</div><div class="ttdoc">Eigen values of voxel covariance matrix</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:186</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1d375e78ecc706179302f4571f72cf5e">&#9670;&nbsp;</a></span>getEvecs()</h2>

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<p>Get the eigen vectors of the voxel covariance. </p>
<dl class="section note"><dt>注解</dt><dd>Order corresponds with <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a5c67f1eb21eec13603ff961f8aaf33c2">getEvals</a> </dd></dl>
<dl class="section return"><dt>返回</dt><dd>matrix whose columns contain eigen vectors </dd></dl>
<div class="fragment"><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#af80a8459da43812adf10cfba4c5293ed">evecs_</a>);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        }</div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_af80a8459da43812adf10cfba4c5293ed"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#af80a8459da43812adf10cfba4c5293ed">pcl::VoxelGridCovariance::Leaf::evecs_</a></div><div class="ttdeci">Eigen::Matrix3d evecs_</div><div class="ttdoc">Eigen vectors of voxel covariance matrix</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:183</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a739478612c073535800e0fed394a15a3">&#9670;&nbsp;</a></span>getInverseCov()</h2>

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<p>Get the inverse of the voxel covariance. </p>
<dl class="section return"><dt>返回</dt><dd>inverse covariance matrix </dd></dl>
<div class="fragment"><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a4eb7363a5ffdea8d03d0ecb29e8f38c6">icov_</a>);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa05a0541f45e19383c94d70df692cf7c">&#9670;&nbsp;</a></span>getMean()</h2>

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<p>Get the voxel centroid. </p>
<dl class="section return"><dt>返回</dt><dd>centroid </dd></dl>
<div class="fragment"><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a449f5f30f9c5688cd353968672a33967">mean_</a>);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac67ae7009095cfccd297f21196e1b417">&#9670;&nbsp;</a></span>getPointCount()</h2>

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<p>Get the number of points contained by this voxel. </p>
<dl class="section return"><dt>返回</dt><dd>number of points </dd></dl>
<div class="fragment"><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a249ed9fec9f58d966fc92b6b430f92a4">nr_points</a>);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        }</div>
<div class="ttc" id="astructpcl_1_1_voxel_grid_covariance_1_1_leaf_html_a249ed9fec9f58d966fc92b6b430f92a4"><div class="ttname"><a href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a249ed9fec9f58d966fc92b6b430f92a4">pcl::VoxelGridCovariance::Leaf::nr_points</a></div><div class="ttdeci">int nr_points</div><div class="ttdoc">Number of points contained by voxel</div><div class="ttdef"><b>Definition:</b> voxel_grid_covariance.h:166</div></div>
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<h2 class="groupheader">类成员变量说明</h2>
<a id="a7163de36e5c92f581b2679e5de2ccf9f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7163de36e5c92f581b2679e5de2ccf9f">&#9670;&nbsp;</a></span>centroid</h2>

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<p>Nd voxel centroid </p>
<dl class="section note"><dt>注解</dt><dd>Differs from <a class="el" href="structpcl_1_1_voxel_grid_covariance_1_1_leaf.html#a449f5f30f9c5688cd353968672a33967">mean_</a> when color data is used </dd></dl>

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<hr/>该结构体的文档由以下文件生成:<ul>
<li>filters/include/pcl/filters/<a class="el" href="voxel__grid__covariance_8h_source.html">voxel_grid_covariance.h</a></li>
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